# US 2021/0277728 A1 · System and method for conducting subterranean operations > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0277728 A1 - Document ID: US20210277728A1 - Status: Published application - Kind: A1 - Application number: 17/328,374 - Filed: 2021-05-24 - Published: 2021-09-09 - Earliest claimed: 2018-04-27 - Assignees: Canrig Robotic Technologies AS - Applicants: Canrig Robotic Technologies AS - Inventors: Kenneth MIKALSEN - Web page: https://patentgrep.com/patent/US20210277728A1 ## CPC - E21B 19/087: by means of a swinging arm - B25J 5/02: travelling along a guideway - B25J 11/00: Manipulators not otherwise provided for - B25J 15/0038: {Cylindrical gripping surfaces} - E21B 19/14: Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole (E21B19/20, E21B19/22 take precedence) - E21B 19/15: Racking of rods in horizontal position; Handling between horizontal and vertical position - E21B 19/155: {Handling between horizontal and vertical position} - F16L 1/207: {Pipe handling apparatus} - E21B 19/06: Elevators, i.e. rod- or tube-gripping devices - E21B 19/20: Combined feeding from rack and connecting, e.g. automatically - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL ## Abstract A pipe storage system can include a plurality of pipe storage bays established between adjacent pipe storage arms, a plurality of protrusions extending from the pipe storage arms into each pipe storage bay, the plurality of protrusions establishing a plurality of channels, wherein each channel is established between a pair of adjacent protrusions, and a plurality of latches, wherein the latches are movable from between a retracted position in which the latches are retracted to establish series of first pipe storage openings between opposing channels and an extended position in which the latches extend into the pipe storage bay to establish a series of second pipe storage openings between opposing protrusions. ## Claims ### Claim 1 A pipe storage system, comprising: a plurality of pipe storage arms; a plurality of pipe storage bays established between adjacent pipe storage arms, a plurality of protrusions extending from the pipe storage arms into each pipe storage bay, the plurality of protrusions establishing a plurality of channels, wherein each channel is established between a pair of adjacent protrusions; and a plurality of latches, wherein the latches are movable from between a retracted position in which the latches are retracted to establish series of first pipe storage openings between opposing channels and an extended position in which the latches extend into the pipe storage bay to establish a series of second pipe storage openings between opposing protrusions. ### Claim 2 (depends on 1) The pipe storage system of claim 1, wherein the latches move substantially in unison. ### Claim 3 (depends on 2) The pipe storage system of claim 2, wherein the first pipe storage openings are larger than the second pipe storage openings. ### Claim 4 (depends on 2) The pipe storage system of claim 2, wherein the latches are mechanically actuated. ### Claim 5 (depends on 2) The pipe storage system of claim 2, wherein the latches are electrically actuated. ### Claim 6 (depends on 2) The pipe storage system of claim 2, wherein the latches move independently. ### Claim 7 (depends on 2) The pipe storage system of claim 2, wherein the latches are spring actuated. ### Claim 8 A system comprising: a tubular storage area; a well center area; a robotic arm configured to move a tubular, the robotic arm coupled to a rig floor and configured to traverse a distance between the well center area toward the tubular storage area, the robotic arm having at least one sensor configured to detect at least one characteristic of the tubular; and at least one logic device configured to communicate the at least one characteristic with at least one other system during an exchange of the tubular from the robotic arm to the at least one other system. ### Claim 9 (depends on 8) The system of claim 8, wherein the at least one characteristic comprises a type of the tubular, a size of the tubular, a length of the tubular, a diameter of the tubular, an orientation of the tubular, or any combination thereof. ### Claim 10 (depends on 8) The system of claim 8, wherein the at least one sensor is disposed on an articulating arm of the robotic arm, and wherein the at least one sensor is coupled to the logic device such that the at least one characteristic of the tubular can be transmitted to the logic device. ### Claim 11 (depends on 8) The system of claim 8, wherein the at least one other system comprises an iron roughneck, a tubular handling system in the well center area, a tubular handling system in the tubular storage area, or any combination thereof. ### Claim 12 (depends on 8) The system of claim 8, wherein the robotic arm is configured for automated movement without external commands. ### Claim 13 A system comprising: a tubular storage area; a well center area; and a robotic arm configured to move tubulars, the robotic arm comprising: a base coupled to a rig floor and configured to traverse a distance between the well center area toward the tubular storage area, and an articulating arm comprising a first portion, a second portion, and a third portion, wherein the first portion is configured to rotate relative to the base about a first axis that is substantially perpendicular to the rig floor, wherein the second portion is configured to rotate relative to the first portion about a second axis that is parallel with the rig floor, wherein the third portion is configured to rotate relative to the second portion about a third axis that is perpendicular to the second axis, wherein the articulating arm is configured to support an entire weight of the tubular, wherein the articulating arm is configured to grip the tubular and spin the tubular about a longitudinal axis of the tubular. ### Claim 14 (depends on 13) The system of claim 13, wherein the robotic arm is coupled to a track on the rig floor and the robotic arm is configured to traverse the distance between the tubular storage area and well center area on the track. ### Claim 15 (depends on 13) The system of claim 13, further comprising a tubular handling system in the tubular storage area, wherein the robotic arm and the tubular handling system are configured to interact and exchange objects. ### Claim 16 (depends on 13) The system of claim 13, wherein the robotic arm is configured to hold a sub-type tubular in a first gripper and pass the sub-type tubular to a second gripper of a tubular handling system in the tubular storage area. ### Claim 17 (depends on 13) The system of claim 13, wherein the well center area comprises at least one well bore defined by an opening in the rig floor. ### Claim 18 (depends on 17) The system of claim 17, further comprising at least one tubular handling system adjacent to the well center area, and wherein the at least one well bore is disposed between the robotic arm and the tubular handling system adjacent to the well center area. ### Claim 19 (depends on 18) The system of claim 18, wherein the robotic arm is configured to interact with the tubular handling system in the well center area and exchange at least one object between a gripper of the tubular handling system and the gripper of the robotic arm. ### Claim 20 (depends on 19) The system of claim 19, further comprising at least one iron roughneck adjacent to the well center area, wherein the robotic arm is configured to interact with and exchange objects with the iron roughneck.